Move tactile sensor to the engine.

PiperOrigin-RevId: 788863133
Change-Id: I3172ebb7641fa8146469da25cba7db794760e7b1

python/mujoco/introspect/enums.py

@@ -390,8 +390,9 @@ ENUMS: Mapping[str, EnumDecl] = dict([
              ('mjSENS_E_POTENTIAL', 43),
              ('mjSENS_E_KINETIC', 44),
              ('mjSENS_CLOCK', 45),
-             ('mjSENS_PLUGIN', 46),
-             ('mjSENS_USER', 47),
+             ('mjSENS_TACTILE', 46),
+             ('mjSENS_PLUGIN', 47),
+             ('mjSENS_USER', 48),
          ]),
      )),
     ('mjtStage',

python/mujoco/specs.cc

@@ -1011,6 +1011,9 @@ PYBIND11_MODULE(_specs, m) {
         if (mjs_makeMesh(self, mjMESH_BUILTIN_WEDGE, params, 5)) {
           throw pybind11::value_error(mjs_getError(mjs_getSpec(self->element)));
         }
+        self->scale[0] = radius;
+        self->scale[1] = radius;
+        self->scale[2] = radius;
       },
       py::arg("resolution") = std::array<int, 2>{0, 0}, py::arg("radius"),
       py::arg("fov") = std::array<double, 2>{0, 0}, py::arg("gamma") = 0);

python/mujoco/specs_test.py

@@ -487,10 +487,11 @@ class SpecsTest(absltest.TestCase):
   def test_make_mesh(self):
     spec = mujoco.MjSpec()
     mesh = spec.add_mesh(name='wedge')
-    mesh.make_wedge(resolution=[25, 25], radius=1, fov=[90, 45], gamma=0)
+    mesh.make_wedge(resolution=[25, 25], radius=.1, fov=[90, 45], gamma=0)
     model = spec.compile()
     self.assertEqual(model.nmesh, 1)
     self.assertEqual(model.nmeshvert, 25 * 25)
+    np.testing.assert_array_equal(model.mesh_scale[0], [0.1, 0.1, 0.1])
 
   def test_compile_errors_with_line_info(self):
     spec = mujoco.MjSpec()